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/* |
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* Copyright 2010, |
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* François Bleibel, |
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* Olivier Stasse, |
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* |
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* CNRS/AIST |
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* |
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*/ |
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/* --------------------------------------------------------------------- */ |
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/* --- INCLUDE --------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --- SOT --- */ |
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#include <dynamic-graph/pool.h> |
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#include <sot/core/debug.hh> |
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#include <sot/core/factory.hh> |
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#include <sot/core/periodic-call-entity.hh> |
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using namespace std; |
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using namespace dynamicgraph::sot; |
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DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(PeriodicCallEntity, "PeriodicCallEntity"); |
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/* --------------------------------------------------------------------- */ |
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/* --- CLASS ----------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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PeriodicCallEntity::PeriodicCallEntity(const string &fName) |
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: Entity(fName), |
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PeriodicCall(), |
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triger("Tracer(" + fName + ")::triger"), |
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trigerOnce("Tracer(" + fName + ")::trigerOnce") { |
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signalRegistration(triger << trigerOnce); |
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triger.setFunction( |
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boost::bind(&PeriodicCallEntity::trigerCall, this, _1, _2)); |
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trigerOnce.setFunction( |
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boost::bind(&PeriodicCallEntity::trigerOnceCall, this, _1, _2)); |
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} |
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int &PeriodicCallEntity::trigerCall(int &dummy, const int &time) { |
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run(time); |
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return dummy; |
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} |
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int &PeriodicCallEntity::trigerOnceCall(int &dummy, const int &time) { |
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run(time); |
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clear(); |
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return dummy; |
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} |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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/* --------------------------------------------------------------------- */ |
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void PeriodicCallEntity::display(std::ostream &os) const { |
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os << "PeriodicCallEntity <" << name << "> "; |
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PeriodicCall::display(os); |
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} |